Method for predicting a speed of a vehicle which is equipped with an antilock brake device
First Claim
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1. A method of estimating a speed of a vehicle which is equipped with an antilock brake device, said method comprising the steps of:
- detecting wheel speeds of wheels of the vehicle respectively;
selecting a highest value of all detected wheel speeds and differentiating a selected highest value to obtain a differentiated value; and
correcting any of the wheel speeds based on said differentiated value, at least when one of the wheels associated with said one wheel speed shows a large decelerating tendency, to obtain a vehicle speed which is used as a reference value for determining a slip ratio of said one wheel.
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Abstract
The present invention is a method for estimating the speed of a vehicle with antilock brake devices by obtaining a vehicle speed as a reference value for determining a slip ratio of a wheel based upon a wheel speed, an acceleration and a deceleration. At least the deceleration is based upon a differentiated value of a highest wheel speed from all wheels. In a vehicle in which the drive wheels are rigidly coupled, at least the deceleration is based upon a differentiated value of a highest value of the lowest wheel speed of the drive wheels and the wheel speeds of the driven wheels.
29 Citations
19 Claims
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1. A method of estimating a speed of a vehicle which is equipped with an antilock brake device, said method comprising the steps of:
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detecting wheel speeds of wheels of the vehicle respectively; selecting a highest value of all detected wheel speeds and differentiating a selected highest value to obtain a differentiated value; and correcting any of the wheel speeds based on said differentiated value, at least when one of the wheels associated with said one wheel speed shows a large decelerating tendency, to obtain a vehicle speed which is used as a reference value for determining a slip ratio of said one wheel. - View Dependent Claims (3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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2. A method of estimating a speed of a vehicle, which is equipped with an antilock brake device, left and right drive wheels coupled substantially rigidly and left and right driven wheels, said method comprising the steps of:
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detecting wheel speeds of the drive and driven wheels, respectively; selecting a lowest value of the wheel speeds of the drive wheels, selecting a highest value of the selected lowest drive wheel speed and the wheel speeds of the driven wheels, and differentiating the selected highest value to obtain a differentiated value; and correcting any one of the wheel speeds based on said differentiated value, at least when one of the wheels associated with said one wheel speed shows a large decelerating tendency, to obtain a vehicle speed which is used as a reference value for determining a slip ratio of said one wheel. - View Dependent Claims (4)
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Specification